Global Journal of Researches in Engineering

Electrical and Electronics Engineering

Volume 13 Issue 16 Version 1.0 Year 2013
Type: Double Blind Peer Reviewed International Research Journal
Publisher: Global Journals Inc. (USA)
Online ISSN: 2249-4596 & Print ISSN: 0975-5861

Improvement of Power System Stability by using SVC with

Cascade PID Controller
By Pranoy Kumar Singha Roy, G.K.M. Hasanuzzaman & Md. Moniruzzaman
Rajshahi University of Engineering & Technology, Bangladesh
Abstract- In power system, one most crucial problem is maintaining system stability. The main
reasons for occurring stability problem in the system is due to the fault occurs in the system. In
this paper the effect of SVC on voltage stability is investigates using cascade Proportional
Integral Differential controller.SVC is a shunt type FACTS device which is used in power system
primarily for the purpose of voltage and reactive power control. The cascade PID controller
parameters has been selected by using Tyreus-Luyben settings method for primary loop
controller and modified Ziegler-Nichols method for secondary loop controller. Cascade control is
mainly used to achieve fast rejection of disturbance before it propagates to the other parts of the
plant.PID controller in cascade architecture is the best choice compared to conventional single
loop control system for controlling nonlinear processs. The primary controller is used to calculate
the setpoint for the secondrary controller. The effect of fault on line with SVC and SVC with
supplementary controller is also investigates.

Keywords: SVC, voltage regulator, cascade propotional integral differential controller, matlab
simulink.
GJRE-F Classification : FOR Code: 090607

ImprovementofPowerSystemStabilitybyusingSVCwithCascadePIDController
Strictly as per the compliance and regulations of :

2013. Pranoy Kumar Singha Roy, G.K.M. Hasanuzzaman & Md. Moniruzzaman. This is a research/review paper, distributed
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Commons
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Improvement of Power System Stability by

using SVC with Cascade PID Controller
In power system, one most crucial problem is
maintaining system stability. The main reasons for occurring
stability problem in the system is due to the fault occurs in the
system. In this paper the effect of SVC on voltage stability is
investigates using cascade Proportional Integral Differential
controller.SVC is a shunt type FACTS device which is used in
power system primarily for the purpose of voltage and reactive
power control. The cascade PID controller parameters has
been selected by using Tyreus-Luyben settings method for
primary loop controller and modified Ziegler-Nichols method
for secondary loop controller. Cascade control is mainly used
to achieve fast rejection of disturbance before it propagates to
the other parts of the plant.PID controller in cascade
architecture is the best choice compared to conventional
single loop control system for controlling nonlinear processs.
The primary controller is used to calculate the setpoint for the
secondrary controller. The effect of fault on line with SVC and
SVC with supplementary controller is also investigates. In this
paper, A power system network is considered which is
simulated in the phasor simulation method & the network is
simulated in three steps; without SVC , With SVC but no
externally controlled, SVC with cascade PID. The result of the
Simulation shows that SVC with cascade PID controllers are
more effective to enhance the voltage stability and increases
power transmission capacity of a power system .The power
system oscillations is also reduced with controllers in
compared to that of without controllers. So with cascade PID
controllers the system performance is greatly enhanced.

Keywords: SVC, voltage regulator, cascade propotional

integral differential controller, matlab simulink.

I.

Introduction

he challenge facing power system engineers today

is to use the existing transmission facilities to
greater effect[1]. Power system should retain its
synchronism during and after all these kind of
disturbances. Therefore the transient stability is an
important security in power system design. So FACTS
has come to help the power system engineer [2-3]. The
SVC is one of the important FACTS devices whose
effectiveness for voltage control is well known. The AC
power transmission system has diverse limits, classified
as static limits and dynamic limits[4-5].Traditionally, fixed
or mechanically switched shunt and series capacitors,
reactors and synchronous generators were being used
to enhance same types of stability augmentation[6]. For
many reasons desired perfor-mance was being unable
to achieve effectively. A static VAR compensator (SVC)
is an electrical device for providing fast-acting reactive
power compensation on high voltage transmission
Authors : Department of EEE, Rajshahi University of Engineering
& Technology Rajshahi-6204, Bangladesh.
e-mails: pronoy331@yahoo.com, g.kibria82@yahoo.com,
mdmonir.eee08@gmail.com

networks and it can contribute to improve the voltage

profiles in the transient state and therefore, it can
improve the qualities and performances of the electric
services[6]. An SVC can be controlled externally by using
properly designed different types of controllers which
can improve voltage stability of a large scale power
system[7]. However, in this study, With a view to get
better performance, A new PID has been designed &
proposed for SVC to injects Vqref externally for the
improvement of power system stability. The dynamic
nature of the SVC lies in the use of thyristor devices (e.g.
GTO, IGCT)[6]. Therefore, thyristor based SVC with PID
controllers has been used to improve the
performance of 2-machine power system.
II.

Control Concept of SVC

An SVC is a controlled shunt susceptance(B)

which inject reactive power (Qnet) into thereby increasing
the bus voltage back to its net desired voltage level. If
bus voltage increases, the SVC will inject less (or TCR
will absorb more) reactive power, and the result will be
to achieve the desired bus voltage[Fig.1]. Here, +Qcap is
a fixed capacitance value, therefore the magnitude of
reactive power injected into the system, Qnet, is
controlled by the magnitude of Qind reactive power
absorbed by the TCR. The basis of the thyristor
controlled reactor (TCR) which conduct on alternate
half-cycles of the supply frequency. If the thyristors are
gated into conduction precisely at the peaks of the
supply voltage, full conduction results in the reactor, and
the current is the same as though the thyristor controller
were short circuited. SVC based control system is
shown in Fig.1[6].

Figure 1 : SVC based control system

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Global Journal of Researches in Engineering ( F ) Volume XIII Issue XVI Version I

Abstract-

Year 2 013

Pranoy Kumar Singha Roy , G.K.M. Hasanuzzaman & Md. Moniruzzaman

Improvement of Power System Stability By Using SVC With Cascade PID Controller

III.

SVC V-I characteristics

a) The SVC can be operated in two different modes

method can be used. A single line diagram represents a

simple 500 kV transmission system is shown in Fig.3[ 9].

Year 2 013

In voltage regulation mode (the voltage is

regulated within limits as explained below). b). In VAR
control mode (the SVC susceptance is kept constant).
From V-I curve of SVC, From Fig.2[3],
V=Vref+Xs.I,: In regulation range(-Bcmax<B<Bcmax)
V=I/Bcmax, , : SVC is fully Capacitive(B=Bcmax)
V=1/Blmax, : SVC is fully inductive(B=Blmax)

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Figure 3 : Single line diagram of 2-machine power

system

Figure 2 : Steady state(V-I) characteristic of a SVC

IV.

Power System Model

This example described in this section

illustrates modelling of a simple transmission system
containing 2- hydraulic power plants[Fig.3]. SVC has
been used to improve transient stability and power
system oscillations damping. The phasor simulation

A 1000 MW hydraulic generation plant (M1) is

connected to a load centre through a long 500 kV, total
700km transmission line. A 5000 MW of resistive load is
modelled as the load centre. The remote 1000 MVA
plant and a local generation of 5000 MVA (plant M2)
feed the load. A load flow has been performed on this
system with plant M1 generating 950 MW so that plant
M2 produces4046 MW. The line carries 944 MW which
isclose to its surge impedance loading (SIL = 977
MW).To maintain system stability after faults, the
Transmissi online is shunt compensated at its centre by
a 200MVAR Static VAR Compensator (SVC).

Figure 4 : Complete simulink model of 2-machine power system

The SVC does not have any controller unit.
Machine & SVC parameters has been taken from
reference[9].The complete simulink model of SVC with
PID controller is shown in Fig.4. To maintain system
2013 Global Journals Inc. (US)

stability after
compensated
Compensator
machines are

faults, the transmissionline is shunt

at its centre by a 200MVAR Static VAR
(SVC) with PID controller. The two
equipped with a hydraulic turbine and

Improvement of Power System Stability By Using SVC With Cascade PID Controller

2000

-1000
-2000

0.5

time,t

1.5

Year 2 013

2000

1500

69

500

0.5

1
time,t

1.5

2.5

Figure 8 : Bus Power(P)in MW for 1- faults(with SVC)

0.07
dw

0.06
0.05
0.04

Va
Vb
Vc

1.5
1

SpeedDeviation

0.03
0.02
0.01
0
-0.01

0.2

0.5

0.4
time,t

0.6

0.8

Figure 9 : Speed deviation for 1- phase fault(without

0

0.5

time,t

1.5

SVC)

Figure 5 : Bus voltages in p.u for 1-phase fault(without

S p e e d D e v ia t io n

SVC)

0.02
dw

0.01

1.1

Bus Voltages

1
0.9

Va
Vb
Vc

0.8
0.7

-0.01

0.6
0.5

0.5

1.5
time,t

2.5

3.5

0.5

2.5

3.5

4.5

time,t
Figure 10 : Speed oscillations for 1- phase fault(with
SVC)

Figure 6 : Bus Voltages in p.u for 1-phase fault (with

SVC)

1.5

b) Three phase fault

During 3-phase faults, If no SVC is applied then
system voltage & machines speed deviations becomes
unstable But when SVC(without controller) is applied
then the system voltage becomes stable within 5s
[Fig.11] & machines speed deviation becomes stable
within 5s [Fig.12].
2013 Global Journals Inc. (US)

Global Journal of Researches in Engineering ( F ) Volume XIII Issue XVI Version I

Consider a 1-phase fault occurred at 0.1s &

circuit breaker is opened at 0.2s (4-cycle fault), Without
SVC, the system voltage, power & machines oscillates
goes on unstable[Fig.(5,7,9)]. But if SVC(without
controller) is applied then voltage becomes stable within
3s [Fig.6], power becomes within 3s[Fig.8] & machines
oscillation becomes stable within 4.5s [Fig.10]. All
results has been summarized in table-III

Power,p

1000

a) Single line to ground fault

SVC)

The load flow solution of the above system is

calculated and the simulation results are shown below.
Two types of faults: A. single line to ground fault & B.
Three phase fault have been considered.

Bus Voltages

Figure 7 : Bus power, P in MW during fault (Without

Simulation Results

V.

Power

1000

Power ,P

governor (HTG), excitation system, and PID controller.

Another machine is swing generator.PID is used in the
model to add damping to the rotor oscillations of the
synchronous machine by controlling its excitation
current[5]. Any disturbances that occur in power systems
due to fault, can result in inducing electromechanical
oscillations of the electrical generators. Such oscillating
swings must be effectively damped to maintain the
system stability and reduce the risk of stepping out of
synchronism.

Improvement of Power System Stability By Using SVC With Cascade PID Controller

Figure 13 : PID controller is in proportional action

Year 2 013

Figure 11 : Bus Voltage(Va) in p.u for L-L phase fault

Global Journal of Researches in Engineering ( F ) Volume XIII Issue XVI Version I

70
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Figure 14 : Determination of sustained oscillation (Pcr)

Figure 12 : Machines speed deviation for L-L fault

VI.

Designe of Cascade Propotional

Integral Differtional Controller
(PID)

The Tyreus- Luyben procedure is quite similar to

the ZieglerNichols method but the final controller
settings are different. Tyreus-Luyben PID Controller, the
values of delay time, rise time, and settling time are
better in comparison with Modified Ziegler-Nichols
method. Also this method only proposes settings for PI
and PID controllers. These settings that are based on
ultimate gain and period are given in table 1.

For selecting the proper controller parameters,

Tyreus-Luyben Tuning Method is described below. In
this method, the parameter is selected as Ti=,Td=0.
Using the proportional controller action[Fig.14]only
increase Kp from 0 to a critical value Kcr. At which the
output first exhibits sustained oscillations [Fig.14]. Thus
the critical gain Kcr & the corresponding period Pcr are
experimentally determined.It is suggested that the
values of the parameters Kp Ti Td should set according
to the following formula
Kp=0.3125Kcr , Ti=2.2Pcr , Td=0.159Pcr
Notice that the PID controller tuned by
proposed Tyreus-Luyben tuning methods rules as
follows

Table 1 : Tyreus-Luyben settings

Controller
PI
PID

Kp
Kcr/3.2
Kcr/3.2

Ti
2.2Pcr
2.2Pcr

Td
Pcr/6.3

For some control loops the measure of

oscillation, provide by decay ratio and the
corresponding large overshoots for set point changes
are undesirable therefore more conservative methods
are often preferable such as modified Z-N settings

Table 2 : Modified Ziegler-Nichols settings

Controller
PI
PID

Kp
0.2Kcr
0.2Kcr

Ti
Pcr/2
Pcr/2

Td
Pcr/3

a) Designed of PID Controller

PID controller is tuned by the proposed both
Tyreus-Luyben tuning and modified Ziegler- Nichols
methods. The PID controller has three term control
signal

Kp

de(t )
u (t ) K p e(t)
e(t )dt K pTd

Ti
dt

U(s)
1
K p 1
Td S
E(s)
T
S

i
2013 Global Journals Inc. (US)

For selecting the proper controller parameters,

Modified Ziegler-Nichols Tuning Method is described
below.
In this method, the parameter is selected as
Ti=,Td=0. Using the proportional controller Action
Fig.14]only increase Kp from 0 to a critical value Kcr. At
which
the
output
first
exhibits
sustained
oscillations[Fig.14]. Thus the critical gain Kcr & the
corresponding period Pcr are experimentally determined.
It is suggested that the values of the parameters Kp Ti Td
should set according to the following formula .
Kp=0.2Kcr , Ti=0.5Pcr , Td=0.33Pcr
Notice that the PID controller tuned by
proposed Ziegler-Nichols tuning methods rules as
follows,

Figure 17 : Bus power,P in MW for 1- fault (with

cascade PID)

Year 2 013

Improvement of Power System Stability By Using SVC With Cascade PID Controller

Figure 15 : Internal Structure of cascade PID controller

with d input
VII.

Simulation Results

Figure 18 : Bus Power,Q for 1- fault in MW(with

cascade PID)

The network remains same [Fig.4],just simple

SVC is replaced by cascade PID controlled SVC. During
fault ,machines speed deviation(d) always monitored
by cascade PID controller & taking input of this
oscillation, after processing this signal reaches as Vref in
SVC . it reduces damping of power system oscillation&
helps SVC to improve stability. Two types of faults has
been considered:
A. Single line to ground fault and B. Three
phase L-L fault

a) Single line to ground fault

During 1-phase faults, if cascade PID is used
with SVC controller then, the system voltage becomes
stable within 1.5s with 0% damping [Fig.16] &Power
(P,Q) becomes stable within 1.2s& 1s [Fig.17,18] &
Machine speed deviationt d becomes stable at
2.8s[Fig.19].

Figure 19 : Machines speed deviation for 1-

fault(with cascade PID)

b) Three phase fault

During 3-phase faults, If cascade PID is used
with SVC controller then, the system voltage becomes
stable within 2.5s [Fig.20] & Both power (P,Q) becomes
stable within 1.8s [Fig.21,22].Machine speed deviation
d becomes stable at 3.3s[Fig.23].

Figure 20 : Bus voltages in p.u for L-L fault (with

cascade PID)

Figure 16 : Bus voltage in p.u for 1- fault (with

cascade PID)

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Global Journal of Researches in Engineering ( F ) Volume XIII Issue XVI Version I

71

Improvement of Power System Stability By Using SVC With Cascade PID Controller

SVC

200

3s

3s

4.5s

5s

1.5s

1.2s

2.8s

2.5

5s

5s

MV
A

Figure 21: Bus power, P in MW for L-L fault (with

cascade PID)

20

+Cas

MV

cade

,1s

Year 2 013

IX.

(with cascade PID)

Figure 23 : Machines speed deviation for L-L

fault(with cascade PID)

The performance of the proposed PIDController with SVC has been summarized in the table
III. In table-III, (infinite time) means the system is
unstable, SVC rating in MVA. The network is simulated in
three steps; without SVC, With SVC, SVC with proposed
CASCADE PID Controller.
Table 3 : Performance of proposed cascade PID

Cont

SVC

roller

Rati

Volt

P,Q

L-L
fault
(Stability time)

d Volt

P,

ng
No

200

SVC

MV

A
2013 Global Journals Inc. (US)

Conclusion

References Rfrences Referencias

Results & Discussions

1-fault
(Stability time)

3.3

The obtained results of the conducted

investigations along with the associated simulation
demonstrated clearly that the proposed (desinged)
cascade PID controller enhanced significantly the
effectiveness of the integrated SVC in the examined
power controller because of shorter stability time, simple
designed system. In cascade PID Controller may be
highly suitable as a SVC, low cost & highly efficient
controller. The proposed cascade PID for SVC is proved
to be very effective of robust power system within very
shortest possible time for both steady state & dynamic
conditions. These proposed cascade PID Controller can
be applied for any interconnected multi-machine power
system network for stability improvement.
These controller can be applied to another
FACTS devices namely SSSC, STATCOM, UPFC whose
controllers may be controlled externally by designing
different types of controllers which also may be tuned by
using different algorithm i.e. Fazzy logic,ANN, Genetic
algorithm, FSO etc. for both transient and steady state
stability improvement of a power system.

Figure 22 : Bus power, Q in MVAR for L-L fault

VIII.

1.8

PID

72
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Global Journal of Researches in Engineering ( F ) Volume XIII Issue XVI Version I

SVC

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Way to Damping Power Oscillations Using Static Var
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Improvement of Power System Stability By Using SVC With Cascade PID Controller

Year 2 013

6. A.E.Hammad Analysis of power system stability

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